Improvements in multibody formulations and the increase of computational power open new fields of application for multibody simulations. In this work, a real-time multibody model of a prototype was developed and installed on board the vehicle, so both model and vehicle have the same inputs and run in parallel. The multibody model is fed with the signals coming from the vehicle’s sensors. This work demonstrates that is possible to run a complex multibody model in-vehicle, so it becomes clear that controllers based on complex multibody models could be available in a near future.